FUZZY LOGIC CONTROL

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL (FLC)

Control applications most common FL applications Control actions based on rules
Rules in linguistic form

Reasoning with fuzzy logic FLC is (on the surface) nonanalytic

General design methods still in infancy The effect of control parameter changes on control result difficult to estimate

Tuned case by case

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL (FLC)

Classical FLC
r + e FLC Process y

Taking a shower (our process) in the bathroom. (y=water temperature, r=desired water temperature.) What is the rule base for FLC?
Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL (FLC)

FLC and conventional PID as a backup
r + PID e FLC + y Process

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL (FLC)

FL tuning conventional PID
r + FL e PID u Process y

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL (FLC)

FL in gain scheduling PID
r + e PID1 Process PID2 FL u Switch y

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL

FLC is a fuzzy system consisting of Fuzzification interface Fuzzy inference Knowledge base Defuzzification interface

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL

FUZZY SYSTEM Knowledge base Input Fuzzification Inference Defuzzification Output

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL - Structure

Control inputs Fuzzy sets (membership functions) of inputs Rules Control outputs Fuzzy sets (membership functions) of outputs Fuzzy reasoning Defuzzification

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL - Structure

Control inputs
error, change in error, process input and output, setpoint

Fuzzy sets (membership functions) of inputs

number of sets, type of membership functions, location of membership functions

Rules Control outputs

control, change in control, control parameters, setpoint
Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL - Structure

Fuzzy sets (membership functions) of outputs
number of sets, location of membership functions

Fuzzy reasoning
max-min, sum-product, etc.

Defuzzification
center of gravity, max, etc.

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL Structure

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FLC Closed-loop step responses to guide in construction of rules

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL - PD type

PD type fuzzy
u = K pe + KDe

If e is

and e is

then u is

REMARK: PD especially for servo problems

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL - PID type

PID type fuzzy (position algorithm)
u = K p e + K D e + K I e( )d
0 t

If e is and e is then u is
Helsinki University of Technology Control Engineering Laboratory

and e(k ) is
i =0

FUZZY LOGIC CONTROL - PID type

PID type fuzzy (velocity algorithm)

u = K p e + K D e + K I e( )d
0

If e is and e is then u is
Helsinki University of Technology Control Engineering Laboratory

and 2 e(k ) is

FUZZY LOGIC CONTROL - PI type

PI type fuzzy
u = K p e + K I e dt ,
0 t

Take derivative on both sides u = K pe + KI e

If e is

and e is

then u is

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL PD type, rule base

PD type FLC (position algorithm)
If e(k) is positive and e(k) is positive, then u(k) is large If e(k) is positive and e(k) is negative, then u(k) is medium If e(k) is negative and e(k) is positive, then u(k) is medium If e(k) is negative and e(k) is negative, then u(k) is small

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL PI type, rule base

PI type FLC (velocity algorithm)
If e(k) is positive and e(k) is positive, then u(k) is positive If e(k) is positive and e(k) is negative, then u(k) is zero If e(k) is negative and e(k) is positive, then u(k) is zero If e(k) is negative and e(k) is negative, then u(k) is negative

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL - Example

Example:
Consider a dynamic system of first order dynamics and delay with a transfer function
1.2e s G(s) = 10 s + 1

The reference signal is a unit step. Develop a fuzzy PI(D) feedback controller for the feedback system and study its performance.
Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL - Simulation

SOLUTION: Simulink diagram of the system is constructed next Open Simulink with the command simulink and then proceed to use blocks in the appropriate block libraries.

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL- Simulation

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL- Simulation

In MATLAB command side open fuzzy toolbox fuzzy Develop the fuzzy system (Fuzzy Logic Controller) In order to use in the command side, save to workspace. If you want to use the system later, save to disk. The easiest thing to get started is to pick a fuzzy controller from fuzzy demos. Open tank, and use the controller tank.

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL- demo sltank

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FUZZY LOGIC CONTROL- Simulation

Open Fuzzy Logic Controller to see the name of the fuzzy system (FIS matrix)

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL- Simulation

Open Fuzzy Logic Toolbox and from fuzzy demos tank.fis and study its rule base

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL- Simulation

You can use tank or start changing it according to your own design. You can graphically adjust membership functions. One modification is given on the next slide REMARK : We have position type of controller output is u.
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FUZZY LOGIC CONTROL- Simulation

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL - Simulation

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FUZZY LOGIC CONTROL PI type (velocity)

To reduce steady-state error to zero integrator is needed Try to set up PI type of fuzzy controller Study typical step responses to set up the rule base

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL PI type (velocity)

If e(k) is positive and e(k) is positive, then u(k) is positive If e(k) is positive and e(k) is negative, then u(k) is zero If e(k) is negative and e(k) is positive, then u(k) is zero If e(k) is negative and e(k) is negative, then u(k) is negative

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL velocity type

u (k ) = u (k ) u (k 1)
u ( k )

u (k )

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FUZZY LOGIC CONTROL velocity type

Helsinki University of Technology Control Engineering Laboratory

FUZZY LOGIC CONTROL

Easy to set up a working fuzzy controller even for difficult-to-control processes (but previously controlled by operator) Easy to understand the rule base in simple cases No sense to use FLC in straightforward linear cases, if implementation reasons would not require it Complications will arise when rule base increases Speed could be a bottleneck in some cases, if many rules
Helsinki University of Technology Control Engineering Laboratory